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    <meta name="description" content="记录一个简单的例子方便复制：通过使用nav_msgs::Pathgeometry_msgs::PoseStampedgeometry_msgs::PointStamped来实现rviz中可视化轨迹和轨迹点。首先创建工程：mkdir -p showpath/srccd srccatkin_create_pkg showpath roscpp rospy sensor_msgs std_msgs nav_msgs tfcd ..catkin_make 以及修改cmakelist:a">
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                <h1 class="title-article" id="articleContentId">ROS在rviz中实时显示轨迹和点</h1>
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                    <span class="time">于&nbsp;2020-09-10 15:20:45&nbsp;发布</span>
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                    <p>记录一个简单的例子方便复制&#xff1a;<br /> 通过使用</p> 
<pre><code>nav_msgs::Path
geometry_msgs::PoseStamped
geometry_msgs::PointStamped
</code></pre> 
<p>来实现rviz中可视化轨迹和轨迹点。<br /> 首先创建工程&#xff1a;</p> 
<pre><code>mkdir -p showpath/src
cd src
catkin_create_pkg showpath roscpp rospy sensor_msgs std_msgs nav_msgs tf
cd ..
catkin_make 
</code></pre> 
<p>以及修改cmakelist:</p> 
<pre><code>add_executable(showpath src/showpath.cpp)
target_link_libraries(showpath ${catkin_LIBRARIES})
</code></pre> 
<p>编译和运行&#xff1a;</p> 
<pre><code>catkin build
source ./devel/setup.bash//别忘了source

roscore
rosrun showpath showpath
rostopic echo /trajectory
rostopic echo /point
rosrun rviz rviz
</code></pre> 
<p>代码部分&#xff1a;</p> 
<pre><code class="prism language-cpp"><span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;ros/ros.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;ros/console.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;nav_msgs/Path.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;std_msgs/String.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;geometry_msgs/Quaternion.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;geometry_msgs/PoseStamped.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;geometry_msgs/PointStamped.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;tf/transform_broadcaster.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;tf/tf.h&gt;</span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string">&lt;cstdlib&gt;</span></span>

<span class="token function">main</span><span class="token punctuation">(</span><span class="token keyword">int</span> argc<span class="token punctuation">,</span> <span class="token keyword">char</span> <span class="token operator">*</span><span class="token operator">*</span>argv<span class="token punctuation">)</span>
<span class="token punctuation">{<!-- --></span>
    ros<span class="token operator">::</span><span class="token function">init</span><span class="token punctuation">(</span>argc<span class="token punctuation">,</span> argv<span class="token punctuation">,</span> <span class="token string">&#34;showpath&#34;</span><span class="token punctuation">)</span><span class="token punctuation">;</span>

    ros<span class="token operator">::</span>NodeHandle ph<span class="token punctuation">;</span>
    ros<span class="token operator">::</span>Publisher path_pub <span class="token operator">&#61;</span> ph<span class="token punctuation">.</span>advertise<span class="token operator">&lt;</span>nav_msgs<span class="token operator">::</span>Path<span class="token operator">&gt;</span><span class="token punctuation">(</span><span class="token string">&#34;trajectory&#34;</span><span class="token punctuation">,</span> <span class="token number">1</span><span class="token punctuation">,</span> <span class="token boolean">true</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    ros<span class="token operator">::</span>Publisher point_pub <span class="token operator">&#61;</span> ph<span class="token punctuation">.</span>advertise<span class="token operator">&lt;</span>geometry_msgs<span class="token operator">::</span>PointStamped<span class="token operator">&gt;</span><span class="token punctuation">(</span><span class="token string">&#34;point&#34;</span><span class="token punctuation">,</span> <span class="token number">1</span><span class="token punctuation">,</span> <span class="token boolean">true</span><span class="token punctuation">)</span><span class="token punctuation">;</span>

    ros<span class="token operator">::</span>Time current_time<span class="token punctuation">,</span> last_time<span class="token punctuation">;</span>
    current_time <span class="token operator">&#61;</span> ros<span class="token operator">::</span>Time<span class="token operator">::</span><span class="token function">now</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    last_time <span class="token operator">&#61;</span> ros<span class="token operator">::</span>Time<span class="token operator">::</span><span class="token function">now</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>

    nav_msgs<span class="token operator">::</span>Path path<span class="token punctuation">;</span>

    <span class="token comment">//nav_msgs::Path path;</span>
    path<span class="token punctuation">.</span>header<span class="token punctuation">.</span>stamp <span class="token operator">&#61;</span> current_time<span class="token punctuation">;</span>
    path<span class="token punctuation">.</span>header<span class="token punctuation">.</span>frame_id <span class="token operator">&#61;</span> <span class="token string">&#34;odom&#34;</span><span class="token punctuation">;</span>

    <span class="token keyword">double</span> x <span class="token operator">&#61;</span> <span class="token number">0.0</span><span class="token punctuation">;</span>
    <span class="token keyword">double</span> y <span class="token operator">&#61;</span> <span class="token number">0.0</span><span class="token punctuation">;</span>
    <span class="token keyword">double</span> z <span class="token operator">&#61;</span> <span class="token number">0.0</span><span class="token punctuation">;</span>
    <span class="token keyword">double</span> th <span class="token operator">&#61;</span> <span class="token number">0.0</span><span class="token punctuation">;</span>
    <span class="token keyword">double</span> vx <span class="token operator">&#61;</span> <span class="token number">0.1</span> <span class="token operator">&#43;</span> <span class="token number">0.2</span> <span class="token operator">*</span> <span class="token function">rand</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator">/</span> <span class="token keyword">double</span><span class="token punctuation">(</span>RAND_MAX<span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">double</span> vy <span class="token operator">&#61;</span> <span class="token operator">-</span><span class="token number">0.1</span> <span class="token operator">&#43;</span> <span class="token number">0.2</span> <span class="token operator">*</span> <span class="token function">rand</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator">/</span> <span class="token keyword">double</span><span class="token punctuation">(</span>RAND_MAX<span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">double</span> vth <span class="token operator">&#61;</span> <span class="token number">0.1</span><span class="token punctuation">;</span>

    ros<span class="token operator">::</span>Rate <span class="token function">loop_rate</span><span class="token punctuation">(</span><span class="token number">10</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token keyword">while</span> <span class="token punctuation">(</span>ros<span class="token operator">::</span><span class="token function">ok</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">)</span>
    <span class="token punctuation">{<!-- --></span>

        current_time <span class="token operator">&#61;</span> ros<span class="token operator">::</span>Time<span class="token operator">::</span><span class="token function">now</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
        <span class="token comment">//compute odometry in a typical way given the velocities of the robot</span>
        <span class="token keyword">double</span> dt <span class="token operator">&#61;</span> <span class="token number">1</span><span class="token punctuation">;</span>
        <span class="token keyword">double</span> delta_x <span class="token operator">&#61;</span> <span class="token punctuation">(</span>vx <span class="token operator">*</span> <span class="token function">cos</span><span class="token punctuation">(</span>th<span class="token punctuation">)</span> <span class="token operator">-</span> vy <span class="token operator">*</span> <span class="token function">sin</span><span class="token punctuation">(</span>th<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token operator">*</span> dt<span class="token punctuation">;</span>
        <span class="token keyword">double</span> delta_y <span class="token operator">&#61;</span> <span class="token punctuation">(</span>vx <span class="token operator">*</span> <span class="token function">sin</span><span class="token punctuation">(</span>th<span class="token punctuation">)</span> <span class="token operator">&#43;</span> vy <span class="token operator">*</span> <span class="token function">cos</span><span class="token punctuation">(</span>th<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token operator">*</span> dt<span class="token punctuation">;</span>
        <span class="token keyword">double</span> delta_th <span class="token operator">&#61;</span> vth <span class="token operator">*</span> dt<span class="token punctuation">;</span>

        x <span class="token operator">&#43;</span><span class="token operator">&#61;</span> delta_x<span class="token punctuation">;</span>
        y <span class="token operator">&#43;</span><span class="token operator">&#61;</span> delta_y<span class="token punctuation">;</span>
        z <span class="token operator">&#43;</span><span class="token operator">&#61;</span> <span class="token number">0.005</span><span class="token punctuation">;</span>
        th <span class="token operator">&#43;</span><span class="token operator">&#61;</span> delta_th<span class="token punctuation">;</span>

        geometry_msgs<span class="token operator">::</span>PoseStamped this_pose_stamped<span class="token punctuation">;</span>
        geometry_msgs<span class="token operator">::</span>PointStamped this_point_stamped<span class="token punctuation">;</span>

        this_pose_stamped<span class="token punctuation">.</span>pose<span class="token punctuation">.</span>position<span class="token punctuation">.</span>x <span class="token operator">&#61;</span> x<span class="token punctuation">;</span>
        this_pose_stamped<span class="token punctuation">.</span>pose<span class="token punctuation">.</span>position<span class="token punctuation">.</span>y <span class="token operator">&#61;</span> y<span class="token punctuation">;</span>
        this_pose_stamped<span class="token punctuation">.</span>pose<span class="token punctuation">.</span>position<span class="token punctuation">.</span>z <span class="token operator">&#61;</span> z<span class="token punctuation">;</span>

        this_point_stamped<span class="token punctuation">.</span>header<span class="token punctuation">.</span>stamp <span class="token operator">&#61;</span> current_time<span class="token punctuation">;</span>
        this_point_stamped<span class="token punctuation">.</span>header<span class="token punctuation">.</span>frame_id <span class="token operator">&#61;</span> <span class="token string">&#34;odom&#34;</span><span class="token punctuation">;</span>
        this_point_stamped<span class="token punctuation">.</span>point<span class="token punctuation">.</span>x <span class="token operator">&#61;</span> x<span class="token punctuation">;</span>
        this_point_stamped<span class="token punctuation">.</span>point<span class="token punctuation">.</span>y <span class="token operator">&#61;</span> y<span class="token punctuation">;</span>
        this_point_stamped<span class="token punctuation">.</span>point<span class="token punctuation">.</span>z <span class="token operator">&#61;</span> z<span class="token punctuation">;</span>
        <span class="token function">ROS_INFO</span><span class="token punctuation">(</span><span class="token string">&#34;current_x: %f&#34;</span><span class="token punctuation">,</span> x<span class="token punctuation">)</span><span class="token punctuation">;</span>
        <span class="token function">ROS_INFO</span><span class="token punctuation">(</span><span class="token string">&#34;current_y: %f&#34;</span><span class="token punctuation">,</span> y<span class="token punctuation">)</span><span class="token punctuation">;</span>
        geometry_msgs<span class="token operator">::</span>Quaternion goal_quat <span class="token operator">&#61;</span> tf<span class="token operator">::</span><span class="token function">createQuaternionMsgFromYaw</span><span class="token punctuation">(</span>th<span class="token punctuation">)</span><span class="token punctuation">;</span>
        this_pose_stamped<span class="token punctuation">.</span>pose<span class="token punctuation">.</span>orientation<span class="token punctuation">.</span>x <span class="token operator">&#61;</span> goal_quat<span class="token punctuation">.</span>x<span class="token punctuation">;</span>
        this_pose_stamped<span class="token punctuation">.</span>pose<span class="token punctuation">.</span>orientation<span class="token punctuation">.</span>y <span class="token operator">&#61;</span> goal_quat<span class="token punctuation">.</span>y<span class="token punctuation">;</span>
        this_pose_stamped<span class="token punctuation">.</span>pose<span class="token punctuation">.</span>orientation<span class="token punctuation">.</span>z <span class="token operator">&#61;</span> goal_quat<span class="token punctuation">.</span>z<span class="token punctuation">;</span>
        this_pose_stamped<span class="token punctuation">.</span>pose<span class="token punctuation">.</span>orientation<span class="token punctuation">.</span>w <span class="token operator">&#61;</span> goal_quat<span class="token punctuation">.</span>w<span class="token punctuation">;</span>

        this_pose_stamped<span class="token punctuation">.</span>header<span class="token punctuation">.</span>stamp <span class="token operator">&#61;</span> current_time<span class="token punctuation">;</span>
        this_pose_stamped<span class="token punctuation">.</span>header<span class="token punctuation">.</span>frame_id <span class="token operator">&#61;</span> <span class="token string">&#34;odom&#34;</span><span class="token punctuation">;</span>
        path<span class="token punctuation">.</span>poses<span class="token punctuation">.</span><span class="token function">push_back</span><span class="token punctuation">(</span>this_pose_stamped<span class="token punctuation">)</span><span class="token punctuation">;</span>

        path_pub<span class="token punctuation">.</span><span class="token function">publish</span><span class="token punctuation">(</span>path<span class="token punctuation">)</span><span class="token punctuation">;</span>
        point_pub<span class="token punctuation">.</span><span class="token function">publish</span><span class="token punctuation">(</span>this_point_stamped<span class="token punctuation">)</span><span class="token punctuation">;</span>
        ros<span class="token operator">::</span><span class="token function">spinOnce</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token comment">// check for incoming messages</span>

        last_time <span class="token operator">&#61;</span> current_time<span class="token punctuation">;</span>
        loop_rate<span class="token punctuation">.</span><span class="token function">sleep</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
    <span class="token punctuation">}</span>

    <span class="token keyword">return</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</code></pre> 
<p>rviz中globel option的Fixed Fram输入odom<br /> 左边点击add<br /> 选中path<br /> 在path的topic选项中选<br /> /trajectory和/point</p> 
<p><img src="https://img-blog.csdnimg.cn/20200910151811855.png?x-oss-process&#61;image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2dvcGhhZQ&#61;&#61;,size_16,color_FFFFFF,t_70#pic_center" alt="add对应topics" />add对应topics</p> 
<p><img src="https://img-blog.csdnimg.cn/2020091015160678.png#pic_center" alt="修改对齐frame_id的odom" />修改对齐frame_id的odom</p> 
<p><img src="https://img-blog.csdnimg.cn/20200910151557205.png?x-oss-process&#61;image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2dvcGhhZQ&#61;&#61;,size_16,color_FFFFFF,t_70#pic_center" alt="" />选择trajectory和 point</p> 
<p>效果如下&#xff1a;<br /> <img src="https://img-blog.csdnimg.cn/20200910151502194.png?x-oss-process&#61;image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2dvcGhhZQ&#61;&#61;,size_16,color_FFFFFF,t_70#pic_center" alt="在这里插入图片描述" /></p>
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                            <div class="share-dec">记录一个简单的例子方便复制：通过使用nav_msgs::Pathgeometry_msgs::PoseStampedgeometry_msgs::PointStamped来实现rviz中可视化轨迹和轨迹点。首先创建工程：mkdir -p showpath/srccd srccatkin_create_pkg showpath roscpp rospy sensor_msgs std_msgs nav_msgs tfcd ..catkin_make 以及修改cmakelist:a</div>
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				<div class="desc ellipsis-online ellipsis-online-1">如何在<em>rviz</em><em>中</em>如何<em>实时</em><em>显示</em><em>轨迹</em>呢？
本文分析nav_msgs/Path结构，实现在<em>rviz</em><em>中</em>画出圆形<em>轨迹</em>
1.实现在<em>rviz</em><em>中</em>画出圆形<em>轨迹</em>
1.1分析nav_msgs/Path.msg结构
nav_msgs/Path.msg结构
std_msgs/Header header
geometry_msgs/PoseStamped[] poses

将以上结构展开如下：
std_msgs/Header...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ROS</em>-使用命令发布导航目标<em>点</em>（publish point）</div>
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				<div class="desc ellipsis-online ellipsis-online-1">手动发布<em>rviz</em><em>中</em>的publish point
我在利用move&mdash;base跑仿真时，是使用的<em>rviz</em><em>中</em>的publish point按钮，在加载的地图上<em>点</em>一系列的目标<em>点</em>，让仿真车辆按照我<em>点</em>的<em>轨迹</em>去跑；在实车的情况下，如果每一次都靠手动去在<em>rviz</em><em>中</em>创建目标<em>点</em>的话，我感觉实车的运行<em>轨迹</em>不够精确，所以想创建文件或者是在终端使用命令去发送这些<em>点</em>来代替手动在<em>rviz</em><em>中</em>的创建的<em>点</em>。
思路方法
方法一：
因为实车搭载了Gps，首先想到的就是先使用遥控让车辆跑一下路线，记录下gps的信息，让实车回到开始位置，将gps信号转</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>ROS</em>在<em>rviz</em><em>中</em><em>显示</em>t265里程计<em>轨迹</em>1、新建工程2、编辑主函数showpath.cpp3、编辑CMakeLists.txt4、编译和运行5、<em>rviz</em><em>显示</em>实验结果
1、新建工程
mkdir -p catkin_ws/src
cd src
catkin_create_pkg showpath <em>ros</em>cpp sensor_msgs std_msgs nav_msgs tf
cd ..
catkin_make

2、编辑主函数showpath.cpp
#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#in</div>
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				<div class="desc ellipsis-online ellipsis-online-1">在实际操作机器人进行移动的时候，虽然直接观察机器人本身是比较直观的，但是无法查看到机器人运动过程<em>中</em>比较细微的变化（比如方向的变化），那么就需要将机器人的运动<em>轨迹</em>用可视化软件<em>Rviz</em><em>显示</em>出来以便于观察。这个功能是利用<em>Rviz</em><em>中</em>的Path类型实现的，只需要将机器人的位置信息已nav_msgs/Path类型的消息的形式发布到<em>ROS</em>系统<em>中</em>，然后在<em>Rviz</em>上订阅该类型的消息就可以<em>显示</em>机器人的运动<em>轨迹</em>了

    下面了解一下nav_msgs/Path类型数据的数据结构：


Header he...</div>
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				<div class="desc ellipsis-online ellipsis-online-1">GPS坐标是经纬度，无法直接在<em>rviz</em><em>中</em>形成<em>轨迹</em>，本程序实现了以下功能：
1.将GPS<em>轨迹</em>，从经纬度WGS-84坐标转换到真实世界xyz坐标系（东北天ENU）下（思路：计算出每个gps坐标相对与第一个坐标的距离（m为单位），比较相邻两<em>点</em>的经纬度变化，赋予位移的方向，然后累加得到<em>轨迹</em>）
gps_to_<em>rviz</em>.cpp
#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &quot;turtlesim/Pose.h&quot;
#include &lt;sensor_msgs/NavSatFix.h&gt;
#</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>Rviz</em><em>显示</em>理想的运动的<em>轨迹</em>，并对比<em>实时</em>的运动<em>轨迹</em></div>
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				<div class="desc ellipsis-online ellipsis-online-1">Reference


<em>ROS</em><em>中</em><em>rviz</em><em>显示</em>运动<em>轨迹</em>的常见方法:
https://blog.csdn.net/u013834525/article/details/80447931?utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-5.control&amp;dist_request_id=&amp;depth_1-utm_source=distribute.pc_rel</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ROS</em>+Turtlebot3+<em>RVIZ</em> <em>显示</em>机器人历史<em>轨迹</em>方法</div>
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				<div class="desc ellipsis-online ellipsis-online-1">一、如果只是<em>RVIZ</em>查看移动机器人的历史<em>轨迹</em>方法

1. 打开gazebo模型， 之后 slam构建地图， 之后保存地图，之后新终端打开导航包。

2. 再将以下网友的代码在turtlebot的catkin_ws编译，并运行。

3. 在<em>rviz</em><em>中</em>add一个marker的主题。就可以查看到移动机器人行走的<em>轨迹</em>。

以下网友的方法比较详细，亲测了一下没问题。

<em>RVIZ</em><em>中</em>利用markers标记历史路径（超详细）_零度蛋花粥的博客-CSDN博客写在前面最近有道作业题需要将机器人的历史路径<em>显示</em>出来，但是网上很..</div>
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				<div class="desc ellipsis-online ellipsis-online-1">C++读取txt<em>点</em>云并在<em>rviz</em><em>中</em><em>显示</em></div>
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				<div class="desc ellipsis-online ellipsis-online-1">昨天粗略看了一下<em>ros</em><em>中</em><em>rviz</em>的用法。事实，他就是一个可视化的工具。wiki的用户手册：http://wiki.<em>ros</em>.org/<em>rviz</em>/UserGuide


今天在学习tf的教程时，首先是演示了一个demo。tf教程链接：http://wiki.<em>ros</em>.org/tf/Tutorials/Introduction%20to%20tf


笔者按照教程操作，在最后使用这个命令：
$</div>
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				<div class="desc ellipsis-online ellipsis-online-1">#include &amp;lt;<em>ros</em>/<em>ros</em>.h&amp;gt;
#include &amp;lt;std_msgs/String.h&amp;gt;

#include &amp;lt;geometry_msgs/Point.h&amp;gt;
#include &amp;lt;visualization_msgs/Marker.h&amp;gt;


visualization_msgs::Marker mark1;
visualization_msg...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ROS</em> <em>Rviz</em> <em>显示</em>路径</div>
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			<div class="info-box display-flex">
				<div class="info">
					<a href="https://blog.csdn.net/weixin_44108388" target="_blank"><span class="blog-title">weixin_44108388的博客</span></a>
				</div>
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					<span class="info-block read"><img class="read-img" src="https://csdnimg.cn/release/blogv2/dist/pc/img/readCountWhite.png" alt="">
					2014
					</span>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>Rviz</em> visualization/ <em>Rviz</em> <em>显示</em>路径
代码github地址：practical_skills_and_tools/<em>Rviz</em> visualization
功能包用途：
（1）可以加载csv文件；
（2）根据csv文件<em>中</em>的路<em>点</em>信息和航向角信息画出带箭头或立方体形状等（自定义）的路径；
（3）以<em>点</em>构成的路径。
Build
catkin_make

Execute
<em>ros</em>launch <em>rviz</em>_visualization <em>rviz</em>_visualization.launch

or
<em>ros</em>run</div>
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					<div class="left ellipsis-online ellipsis-online-1">【可视化】娱乐一下,<em>rviz</em>上画出目标物的<em>轨迹</em></div>
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				<div class="desc ellipsis-online ellipsis-online-1">这个就比较简单了，借助于visualization_msgs::MarkerArray，我们可以一次行装载N个不同位置的标记物。然后将该消息发送出去，在<em>rviz</em>上形成一条<em>轨迹</em>。


#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &lt;visualization_msgs/Marker.h&gt;
#include &lt;visualization_msgs/MarkerArray.h&gt;

int main(int argc, char** argv) {
...</div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>rviz</em>是什么
可以<em>显示</em>很多信息的３D可视化工具。
<em>rviz</em>的功能
<em>显示</em><em>显示</em><em>显示</em>，重要的废话说三遍。
可以<em>显示</em>什么？我们经常需要<em>显示</em>的：模型，TF坐标，地图，激光信息，摄像头信息，规划路径等等。这些我们都可以在界面<em>点</em>击Add进行添加，选择需要<em>显示</em>内容，其实<em>显示</em>的内容是节<em>点</em>发出的topic的信息。
现在的<em>显示</em>已经有了，<em>rviz</em>就是为了<em>显示</em>，所以今天的总结到这，就开始了（手动滑稽- -）。
<em>rviz</em>的...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ROS</em>-PCL读取pcd<em>点</em>云数据并在<em>rviz</em><em>中</em>进行<em>显示</em></div>
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				<div class="desc ellipsis-online ellipsis-online-1">环境:
Ubuntu18.04
<em>ROS</em> melodic
C++
创建工作空间和功能包


cd Downloads/<em>ROS</em>
mkdir -p pcdreadshow_ws/src
cd src
catkin_init_workspace
catkin_create_pkg read_pcd pcl_conversions pcl_<em>ros</em> <em>ros</em>cpp sensor_msgs


进入到功能包的src文件夹下面新建.cpp文件read_pcd.cpp


#include&lt;<em>ros</em>/<em>ros</em>.h&gt;
#</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ros</em> <em>rviz</em><em>显示</em><em>ros</em>bag<em>中</em>的图像和imu数据</div>
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                    <a href="https://blog.csdn.net/weixin_43554808" class="user-name" target="_blank">weixin_43554808: </a>
                    <span class="code-comments">老哥，能分享下链接吗</span>
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                    <a href="https://blog.csdn.net/m0_67452097" class="user-name" target="_blank">m0_67452097: </a>
                    <span class="code-comments">可以问一下，你是直接运行作者的代码吗？</span>
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                    <a href="https://blog.csdn.net/weixin_43697762" class="user-name" target="_blank">灬_: </a>
                    <span class="code-comments">直接看给的github链接中的代码，博主文章中的运行不起来</span>
                </p>
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                <a class="title text-truncate" target="_blank" href="https://yunchengjiang.blog.csdn.net/article/details/103817496#comments_23928728" data-report-click='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://yunchengjiang.blog.csdn.net/article/details/103817496#comments_23928728","ab":"new"}' data-report-view='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://yunchengjiang.blog.csdn.net/article/details/103817496#comments_23928728","ab":"new"}'>在Frenet坐标系下的动态障碍物避障</a>
                <p class="comment ellipsis">
                    <a href="https://blog.csdn.net/m0_71229536" class="user-name" target="_blank">m0_71229536: </a>
                    <span class="code-comments">博主能发一下代码吗，感谢，邮箱2054824932@qq.com</span>
                </p>
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            <li>
                <a class="title text-truncate" target="_blank" href="https://yunchengjiang.blog.csdn.net/article/details/103661496#comments_23928466" data-report-click='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://yunchengjiang.blog.csdn.net/article/details/103661496#comments_23928466","ab":"new"}' data-report-view='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://yunchengjiang.blog.csdn.net/article/details/103661496#comments_23928466","ab":"new"}'>自动驾驶使用贝塞尔曲线进行动态障碍物避障测试</a>
                <p class="comment ellipsis">
                    <a href="https://blog.csdn.net/m0_71229536" class="user-name" target="_blank">m0_71229536: </a>
                    <span class="code-comments">博主有考虑出一期动态的障碍物避障吗，比如车辆换道时怎么与周围动态车辆避障</span>
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